Information processing apparatus, information processing method, and computer program product

Abstract

An information processing apparatus includes one or more hardware processors configured to function as an acquisition unit, a detection unit, an estimation unit, and a generation unit. The acquisition unit acquires a first image and a second image. The detection unit detects an object captured in the first image by using at least the first image. The estimation unit estimates a relative position of the object based on an imaging position of a target image by using the target image that is at least one of the first image and the second image. The generation unit generates specifying information in which object identification information for identifying the object, facility information based on the relative position, and image identification information for identifying the target image are associated with each other.

What is claimed is: 
     
         1 . An information processing apparatus comprising:
 one or more hardware processors configured to:   acquire a first image and a second image;   detect an object captured in the first image by using at least the first image;   estimate a relative position of the object based on an imaging position of a target image by using the target image that is at least one of the first image and the second image; and   generate specifying information in which object identification information for identifying the object, facility information based on the relative position, and image identification information for identifying the target image are associated with each other.   
     
     
         2 . The information processing apparatus according to  claim 1 , wherein
 the second image is an image captured, by an imaging device that captures the first image, at an imaging position different from an imaging position of the first image, and   the one or more hardware processors are configured to estimate the relative position from a correspondence relationship of points between the first image and the second image included in one or more image pairs that are a set of the first image and the second image.   
     
     
         3 . The information processing apparatus according to  claim 2 , wherein
 the one or more hardware processors are configured to estimate the relative position by further using at least a part of the imaging position, a height of the imaging device, a speed at which the imaging device moves, and a size of a subject captured in the target image.   
     
     
         4 . The information processing apparatus according to  claim 1 , wherein
 the second image is an image captured by a second imaging device different from a first imaging device that captures the first image, and   the one or more hardware processors are configured to estimate the relative position using a disparity between the first image and the second image.   
     
     
         5 . The information processing apparatus according to  claim 1 , wherein
 the second image is a depth image including a depth for each pixel, and   the one or more hardware processors are configured to estimate the relative position using the target image that is the depth image.   
     
     
         6 . The information processing apparatus according to  claim 1 , wherein
 the one or more hardware processors are configured to generate the specifying information, for which position information indicative of a position where the target image is captured, is further associated.   
     
     
         7 . The information processing apparatus according to  claim 1 , wherein the one or more hardware processors are configured to:
 determine whether or not the object identified by the object identification information included in first specifying information generated using the target image captured at time t 1  matches the object identified by the object identification information included in second specifying information generated using the target image captured at time t 2 ;   extract the target image identified by the image identification information included in the first specifying information including the designated facility information and the target image identified by the image identification information included in the second specifying information including the designated facility information by using one or more pieces of the first specifying information and one or more pieces of the second specifying information including the object identification information of the object determined to be matched; and   display a plurality of extracted target images on a display device in association with each other.   
     
     
         8 . An information processing apparatus comprising:
 one or more hardware processors configured to:   acquire first specifying information generated by using a first target image captured at a time t 1  and second specifying information generated by using a second target image captured at a time t 2 , the first specifying information and the second specifying information being specifying information in which object identification information for identifying an object detected by using at least first image out of the first image and a second image, a relative position of the object with respect to an imaging position of a target image estimated by using the target image that is at least one of the first image and the second image, and image identification information for identifying the target image are associated with each other;   determine whether or not the object identified by the object identification information included in the first specifying information matches the object identified by the object identification information included in the second specifying information;   extract the target image identified by the image identification information included in the first specifying information including the designated facility information among the facility information based on the relative position and the target image identified by the image identification information included in the second specifying information including the designated facility information by using one or more pieces of the first specifying information and one or more pieces of the second specifying information including the object identification information of the object determined to be matched; and   display a plurality of extracted target images on a display device in association with each other.   
     
     
         9 . The information processing apparatus according to  claim 8 , wherein
 when designation of the facility information is changed, the one or more hardware processors are configured to extract the target image identified by the image identification information included in the first specifying information including the changed facility information and the target image identified by the image identification information included in the second specifying information including the changed facility information.   
     
     
         10 . The information processing apparatus according to  claim 8 , wherein
 the one or more hardware processors are configured to extract the target image identified by the image identification information included in the first specifying information including the object identification information of the object of a designated type and the designated facility information, and the target image identified by the image identification information included in the second specifying information including the object identification information of the object of the designated type and the designated facility information.   
     
     
         11 . The information processing apparatus according to  claim 8 , wherein
 the one or more hardware processors are configured to extract the target image captured at an imaging position within a designated range and identified by the image identification information included in the first specifying information including the designated facility information, and the target image captured at an imaging position within the range and identified by the image identification information included in the second specifying information including the designated facility information.   
     
     
         12 . An information processing method executed by a computer of an information processing apparatus, the method comprising:
 acquiring a first image and a second image;   detecting an object captured in the first image by using at least the first image;   estimating a relative position of the object based on an imaging position of a target image by using the target image that is at least one of the first image and the second image; and   generating specifying information in which object identification information for identifying the object, facility information based on the relative position, and image identification information for identifying the target image are associated with each other.   
     
     
         13 . An information processing method executed by a computer of an information processing apparatus, the method comprising:
 acquiring first specifying information generated by using a first target image captured at a time t 1  and second specifying information generated by using a second target image captured at a time t 2 , the first specifying information and the second specifying information being specifying information in which object identification information for identifying an object detected by using at least first image out of the first image and a second image, a relative position of the object with respect to an imaging position of a target image estimated by using the target image that is at least one of the first image and the second image, and image identification information for identifying the target image are associated with each other;   determining whether or not the object identified by the object identification information included in the first specifying information matches the object identified by the object identification information included in the second specifying information;   extracting the target image identified by the image identification information included in the first specifying information including the designated facility information among the facility information based on the relative position and the target image identified by the image identification information included in the second specifying information including the designated facility information by using one or more pieces of the first specifying information and one or more pieces of the second specifying information including the object identification information of the object determined to be matched; and   displaying a plurality of extracted target images on a display device in association with each other.   
     
     
         14 . A computer program product having a non-transitory computer readable medium including programmed instructions stored thereon, wherein the instructions, when executed by a computer, cause the computer to execute:
 acquiring a first image and a second image;   detecting an object captured in the first image by using at least the first image;   estimating a relative position of the object based on an imaging position of a target image by using the target image that is at least one of the first image and the second image; and   generating specifying information in which object identification information for identifying the object, facility information based on the relative position, and image identification information for identifying the target image are associated with each other.   
     
     
         15 . A computer program product having a non-transitory computer readable medium including programmed instructions stored thereon, wherein the instructions, when executed by a computer, cause the computer to execute:
 acquiring first specifying information generated by using a first target image captured at a time t 1  and second specifying information generated by using a second target image captured at a time t 2 , the first specifying information and the second specifying information being specifying information in which object identification information for identifying an object detected by using at least first image out of the first image and a second image, a relative position of the object with respect to an imaging position of a target image estimated by using the target image that is at least one of the first image and the second image, and image identification information for identifying the target image are associated with each other;   determining whether or not the object identified by the object identification information included in the first specifying information matches the object identified by the object identification information included in the second specifying information;   extracting the target image identified by the image identification information included in the first specifying information including the designated facility information among the facility information based on the relative position and the target image identified by the image identification information included in the second specifying information including the designated facility information by using one or more pieces of the first specifying information and one or more pieces of the second specifying information including the object identification information of the object determined to be matched; and   displaying a plurality of extracted target images on a display device in association with each other.